Automatic manipulation system and method

An automatic manipulator comprising in combination:

• a) first support means,
• b) a manipulator arm assembly carried by said first support means for multi-axis movement,
• c) an operating head operatively connected to and supported by said arm assembly,
• d) a plurality of power-operated tools for performing different functions with respect to work, each of said tools having a coupling means which is operable to be releasably connected to said operating head,
• e) first and second motor means located on said first support means for driving said arm assembly in said multi-axis movement to carry said operating head connected to a tool through a multitude of paths adjacent first said support means for performing a multitude of operations with respect to work disposed adjacent said first support means,
• f) means located within the operating range of said arm assembly for positioning a plurality of tools for use with said operating head,
• g) master control means including means for automatically controlling the operation of said first and second motor means to cause said manipuator arm assembly to position said operation head in operable alignment with a selected tool disposed on said positioning means and means for controllably moving said head in a path such as to effect the operative connection between the coupling means of said select tool and the operating head,
• h) said master control means being also operable to control said first and second motor means to drive said arm assembly to cause it to automatically remove said selected tool from said tool positioning means and to predeterminately move thereafter and control the operation of said tool so as to cause said selected tool to perform a first predetermined operation with respect to work located adjacent said first support means, and
• i) when it is required to perform another operation with respect to work with another took, said operation controlling means for the first and second motor means is effective to position said operating head in alignment with a select location of said tool positioning means,
• j) means for disconnecting the tool coupling means from the operating head at said tool positioning means, and
• k) said operation controlling means being effective to thereafter control said first and second motor means to move said operating head in a manner to effect the positioning of said operating head in alignment with the coupling means of a second select tool to effect the operable connecting of said second tool with said operating head and to thereafter move and control the operation of said second toolto cause second tool to perform a further predetermined operation with respect to work adjacent said first support means,
• l) said first support means including means for supporting said arm assembly for rotation about a substantially vertical axis,
• m) said tool positioning means comprising a turret supported by said first support means for rotation about said substantially vertical axis.

A method of changing tools for an automatic machine tool having a tool storage rack and movable tool head which tool head contains tool holding and gripping means and means for releasing held tools and wherein said automatic machine tool includes master controller means and an automatic manipulation means capable of multi-axis movement for moving said tool head through a given spatial volume to a plurality of different storage rack locations, said method comprising the steps of:

• a) automatically controlling the operation of said automatic manipulation means tomove said tool head into operative alignment with respect to a selected of said plurality of storage locations containing a selected first tool,
• b) automatically operating said tool gripping means and aid automatic manipulation means to cause said gripping means to grip, hold and electrically connect the first tool at said selected location,
• c) thereafter automatically controlling said automatic manipulation means to cause the first tool held thereby to execute at least one programmed operation with respect to work disposed adjacent said automatic machine tool,
• d) upon completion of the programmed operation with the first tool, automatically controlling said manipulation means to bring the first tool held by said tool head into operative alignment with a select empty storage rack location of said tool storage rack,
• e) thereafter effecting the automatic transfer of the first tool held by said tool head to said selected empty storage rack location,
• f) automatically controlling the operation of said automatic manipulation means to move said tool head into operative alignment with respect to a selected of said plurality of storage locations containing a selected second tool,
• g) automatically operating said tool gripping means and said automatic manipulation means to cause said gripping means to grip, hold and electrically connect the second tool at said selected location,
• h) thereafter automatically controlling said automatic manipulation means to cause the second tool held thereby to execute at least one programmed operation with respect to work disposed adjacent said automatic machine tool,
• i) upon completion of the programmed operation with the second tool, automatically controlling said manipulation means to bring the second tool h eld by said tool head into operative alignment with a select empty storage rack location of said tool storage rack,
• j) thereafter effecting the automatic transfer of the second tool held by said tool head to said selected empty storage rack location,
• k) repeating the automatic controlling of said manipulation means and tool, gripping means as necessary in the operation of said machine tool, and
• l) generating command control signals from said master controller means to effect said automatically controlling, operating and transfer steps withthe first and second tools.